Copy For Citation
Urgan A., Daşdemir J.
ITU Computer Science AI and Robotics, vol.1, no.1, pp.26-32, 2024 (Peer-Reviewed Journal)
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Publication Type:
Article / Article
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Volume:
1
Issue:
1
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Publication Date:
2024
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Journal Name:
ITU Computer Science AI and Robotics
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Page Numbers:
pp.26-32
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Yıldız Technical University Affiliated:
Yes
Abstract
This paper presents a control mechanism designed for an RRR-type robot manipulator, Geomagic Touch Phantom OmniTM" role="presentation" >TM, to track a desired reference signal. The control mechanism utilizes the computed torque control method, a nonlinear control approach. Utilizing the properties of the haptic device, a force controller is designed to allow the operator to feel the hard contact state. Since external torque or force measurements are not directly accessible, a method similar to the position-position method is used. The study used an API-based library running in the MATLAB/SimulinkTM" role="presentation" >TM environment instead of a data transfer unit. Stability analysis shows that the system error dynamics are globally asymptotically stable and all signals within the closed-loop system are bounded. The applicability and performance of the proposed method are validated by experimental results. We propose a bilateral teleoperation system based on the Computed Torque Control (CTC) method that ensures safe interaction with the surroundings without assuming any prior knowledge of the surroundings.